SYSTEM WITH SATELLITES ON EQUATORIAL AND INCLINED ORBITS RELAYING INFORMATION THROUGH INTERSATELLITES LINK AND EARTH RELAYS

Abstract: A satellite system is disclosed. One embodiment of the invention utilizes both a single equatorial orbit plane (14) in combination with other satellites (12) moving in polar or inclined orbits (60, 63, 210). Although the preferred embodiments utilize a specific range of low Earth orbit altitudes, the satellites (12) are designed to fly in any orbit that is not a geosynchronous orbit. The satellites (12) are also capable of speeding packetized messages (225) around the globe either by working in combination with relay stations (34, 61, 65) on the ground, by transferring message payloads (225) across different orbits via the relay stations (34, 61, 65) or by conveying packetized payloads (225) through the use of inter-satellite links (55). The present invention will provide a wide range of non-voice, non-geostationary mobile satellite services to millions of subscribers around the globe.

Description: SYSTEM WITH SATELLITES ON EQUATORIAL AND INCLINED ORBITS RELAYING INFORMATION THROUGH INTERSATELLITES LINK AND EARTH RELAYS TECHNICAL FIELD The present invention relates to satellites and, more specifically, to a store-and-forward non- geostationary, non-voice satellite communication system. BACKGROUND ART I. The Increasing Demand for Telecommunications Services Over the past few decades, the demand for access to information has increased dramatically. Although conventional wire and fiber landlines, cellular networks and geostationary satellite systems have continued to expand in an attempt to meet this relentless growth in demand, the existing capacity is still not sufficient to meet the burgeoning global appetite for telecommunications services. The history of mobile communications can be seen as an effort to make service widely available on both a geographic and economic basis. Early mobile communications systems served the needs of individual companies on a private basis. Through technology advances and regulatory changes, mobile communication services were offered on a commercial basis and grew to meet city, regional, national, and even international coverage needs through interconnection to public networks. As part of this evolution, wireless network standards have developed, on both a national and international basis, although there are still no truly international seamless wireless networks. As mobile communications networks have expanded geographically, prices for equipment and services have fallen dramatically. The decline in price of mobile services is one of the most important forces helping mobile communications reach broad-based markets and demonstrate rapid subscriber growth. The forces driving development of terrestrial wireless communications include: Advances in Technology Advances in radio propagation management, computer micro-processing, the ability to interconnect networks, and miniaturization have all combined to make more efficient use of spectrum, and to lower equipment and service prices. Declining Prices As production increases for infrastructure and terminal equipment, manufacturers experience economies of scale which lead to lower prices for equipment. Digital Technology Digital technology is replacing analog technology in almost all wireless communication services. The switch to digital technology allows higher subscriber capacities to be served, enhances services, and lowers the cost per subscriber for operators. The resulting reductions in service and equipment cost attributable to the factors described above have allowed mobile communications to penetrate both business and consumer markets. The ultimate goal of wireless services is to provide two-way, ubiquitous, affordable communications services. It was only very recently, with the introduction of mobile satellite services, that this has been made possible. Indeed, mobile satellite services are the final step in the evolution of wireless communications service and are the only services which can provide this ultimate goal of ubiquitous wireless communication. II. Terrestrial-Based Mobile Communications Services Currently, there are five major types of public mobile communications services used throughout the world: Cellular Cellular provides primarily two-way, interconnected voice service with mobile, transportable, and portable telephones. Reusing frequencies within a relatively small geographic area with multiple, low power transmission sites is cellular's distinguishing technical characteristic. Cellular also provides a platform for data transmission, although the vast majority of traffic over cellular is voice at this time. Paging Paging provides primarily one-way data transmission of numeric and alphanumeric messages. Relative to cellular, paging is less expensive but does not offer voice or two-way communications capabilities. Private Radio/SMR Private radio has largely grown out of the need for dispatch and fleet companies to utilize internal radio systems. Private radio provides primarily two-way voice service to closed user groups, but may also provide interconnected and mobile data services. SMR is a subset of private radio with the distinguishing characteristic that service is provided on a commercial basis to businesses by carriers instead of the businesses owning their own systems. Mobile Data Several networks have been established, such as RAM's Mobitex™ and Motorola's ARDIS™, for the exclusive transmission of mobile data. Cellular, paging, and SMR operators are all considering ways in which to modify their networks to better handle two-way data transmission. Personal Communications Services (PCS) Using microcell technology, PCS includes a wide range of voice and data services. One¬ way outgoing PCS services, called CT-2, are licensed in several countries such as the U.K., Taiwan and the Netherlands. The growth and evolution of mobile services show that subscribers migrate from basic limited services to more advanced services over time. The growth of terrestrial-based mobile services will increase the awareness and demand for enhanced mobile satellite services. Moreover, mobile satellite services will be able to provide service in areas that cannot be economically served using terrestrial networks. III. Wireless Communications As a result of the advances in technology, privatization, and decreasing prices on a world¬ wide basis, wireless communications have undergone a rapid increase in subscriber growth in the past several years. The result is that new enhanced wireless services tend to gain market acceptance more rapidly than did earlier wireless technologies. This phenomenon is attributable to the increasing functionality, value relative to price, and awareness among the population of each successive technology. Paging was introduced with only one-way, non-voice communications at a relatively high price. SMR provided two-way communications, but only within a closed user-group. Finally, cellular offered two-way interconnected voice with increasingly wide area coverage. The result of the rapid growth in wireless services worldwide builds an awareness and future demand for the benefits of advanced wireless communications. TV. Mobile Satellite Services Mobile satellite services are uniquely positioned to complete the evolution of wireless services. These services offer: Ubiquitous coverage Satellites, by their very nature, provide the capability of global coverage. The economics of terrestrial-based networks is such that universal coverage is not a realistic goal. Interconnection with other networks Mobile satellite services will be able to interconnect with a number of voice and data networks, both wired and wireless, and therefore provide a wide array of services and network access. Variety of services Mobile satellites will be able to support both voice and data terminals, depending upon the particular need of the user. In general, however, voice service will be expensive relative to data, due to the greater infrastructure required for voice communications and the generally greater efficiency of data communications. Several previous efforts to enhance world-wide communications capabilities are briefly described below. In European Patent Application No. 89 118 458.2, Bertiger et al. propose a low Earth orbit system for facilitating global cellular/trunked mobile communications. Robert R. Newton disclosed a Multipurpose Satellite System in his U.S. Patent No. 3,497,807. Newton describes a system in which "any point on earth is always within the line of sight of some satellite and any satellite is always within the line of sight of an adjacent satellite in the same orbital plane." See Newton, Column 2, Lines 4-7. U.S. Patent No. 4,135,156 by Sanders et al., entitled Satellite Communications System Incorporating Ground Relay Station Through Which Messages Between Terminal Stations Are Routed, contains a description of a "satellite relay communications system" that "includes a ground relay station arranged so that each message from one subscriber to another is relayed by the satellite relay to the ground relay, processed by the ground relay and then transmitted to the second subscriber by way of the satellite relay." See Sanders et al., Abstract, Lines 1-6. Paul S. Visher disclosed a Satellite Arrangement Providing Effective Use of the Geostationary Orbit in his U.S. Patent No. 4,375,697. His patent recites a "satellite squadron or cluster formation" which "is disposed in a predetermined location in... geostationary orbit...." See Visher, Abstract, Lines 1-2. In their U.S. Patent No. 5,119,225, Michael Grant et al. explain their Multiple Access Communication System. The inventors disclose a system that incorporates "a node spacecraft" in geostationary orbit that works in combination with "several user spacecraft" in low Earth orbit. See Grant et al., Abstract, Lines 1-3. None of the systems described above are capable of supplying a very low cost yet worldwide store-and-forward non-voice communications network that does not require expensive and complex terrestrial or geosynchronous satellite equipment. The development of such a system would constitute a major technological advance and would satisfy a long felt need in the electronics and telecommunications industries. DISCLOSURE OF THE INVENTION One of the embodiments of the present invention is a satellite system that includes six to fourteen satellites which operate in a single Equatorial orbit. These satellites flying over the Equator are capable of providing communications services to locations on the Earth which are within thirty degrees of the Equator. This embodiment is designed to furnish service to Mexico and to a large number of developing countries. Another embodiment of the invention utilizes both this single orbit plane occupied by satellites operating over the Equator in combination with other satellites moving in polar or inclined orbits. The embodiment that combines satellites in equatorial, polar and inclined orbits will provide a wide variety of data services to virtually any point on the globe. The satellites are designed to operate in a circular low Earth orbit at an altitude of from 800 to 1,852 kilometers. They are also capable of speeding messages around the globe either by working in combination with relay stations on the ground, transferring message payloads across different orbits via the relay stations or through the use of inter-satellite links. The systems disclosed below are unique in their ability to provide affordable worldwide service, resulting in a competitive advantage over other terrestrial and previous satellite-based service providers. The present invention is designed to supply affordable Non- Voice, Non-Geostationary Mobile Satellite Service (NVNG MSS) in several markets: TracSat™: Tracking and monitoring for the transportation industry. SecurSat™: Fixed site monitoring of industrial/utility locations, monitoring and tracking for misplaced or stolen assets. MailSat™: Transmission of e-mail. PageSat™: Two-way alphanumeric paging. EmerSat™: Emergency services. The services, demand and markets for each are described below and summarized are in Tables Al and A2. Table Al Services and Demand Segments Segment Service Message Type Description Transportation TracSat™, SecurSat™ Short, frequent Messaging and status and location location for messages trucking, maritime and railroads Remote monitoring Secursat τ Short telemetry Pipeline, messages and status environmental and monitoring agricultural monitoring Industrial/utility SecurSat™ Short telemetry Monitor plant messages and status facilities, utilities monitoring and meters in remote locations Personal/business MailSat™, PageSat Alpha-numeric Alpha-numeric communications messages, short- paging, E-mail and medium length mobile computing E-mail messages for frequent business travelers Commercial/residen¬ SecurSat" Short alarm Stolen assets and tial security EmerSat" notification security breaches; messages accident notification, etc. Table A2 U.S. Domestic Market for NVNG MSS Services: (All entries in U.S. Dollars) TracSat™ Trucking 2.5MM Maritime Commercial 50K Yachts 50K Recreational 370K Boxcars and containers 5MM SecurSat™ Oil and gas wells 900K Pipeline monitoring sites 220K Government data 100K gathering stations Utility meters 150MM MailSat™ Frequent business travelers 1MM PageSat™ Nationwide paging 240K subscribers EmerSat™ Emergency road service 50MM subscribers An appreciation of other aims and objectives of the present invention and a more complete and comprehensive understanding of this invention may be achieved by studying the following description of a preferred embodiment and by referring to the accompanying drawings. A BRIEF DESCRIPπON OF THE DRAWINGS Figure 1 is a schematic view of a constellation of six satellites in equatorial orbit utilized in one of the embodiments of the present invention. Figure 2 is a schematic view of a constellation of fourteen satellites in equatorial orbit utilized in one of the embodiments of the present invention. Figure 3 is a schematic view of one of the embodiments of the satellites used to implement the present invention. Figures 4 and 5 are sections of Mercator projections of the Earth's surface showing the areas of coverage between 30 degrees North and 30 degrees South latitude for satellites operating in equatorial orbit. Figure 6 depicts equatorial relay stations located on the ground between 30 degrees North and South latitude. Figures 7, 8 and 9 show satellite footprints for constellations that include six, eight and fourteen satellites in equatorial orbit. Figure 10 reveals the use of ground stations to relay data between satellites in equatorial orbit. Figure 11 illustrates the use of inter-satellite links to relay data between satellites in equatorial orbit. Figure 12 reveals the use of both ground stations and inter-satellite links to relay data between satellites in equatorial orbit. Figure 13 exhibits a mixed constellation of satellites in both equatorial and polar orbits that work in combination with relay stations located near the poles and near the Equator. Figure 14 depicts another mixed constellation of satellites which includes equatorial orbits and orbits that are inclined sixty degrees to the Equator. Figure 15 depicts another mixed constellation of satellites which includes equatorial orbits and orbits that are inclined fifty degrees to the Equator. Figure 16 shows a ground relay station and the five degree elevation angle required by one of the embodiments of the invention. Figure 17 is a graph of latitudinal reach versus altitude from an equatorial orbit to a fifteen degree elevation angle. Figure 18 is a diagram of one orbital plane inclined at fifty degrees to the equator, illustrating a typical orbital altitude of 950 kilometers. Figure 19 is a diagram of a satellite communicating with relay stations and user terminals by means of uplink and downlink transmissions. Figure 20 is a diagram showing various methods of relaying messages and data between relay stations. Figure 21 depicts the frequencies and bandwidths used in uplink and downlink transmissions between a satellite, a relay station and a user terminal. Figure 22 is a diagram of the structure of a data packet. Figure 23 is a functional block diagram of the satellite subsystems and their interconnections. Figure 24 is a functional block diagram of the message or "communications payload". Figure 25 is shows the satellite antenna gain pattern. Figure 26 depicts the response characteristics of the terminal-to-satellite downlink transmit filter. Figure 27 depicts the response characteristics of the relay station-to-satellite downlink transmit filter. Figure 28 is a diagram showing possible combinations of the modem module with other modules in a user terminal. Figure 29 is a block diagram of the modem module. Figure 30 is a diagram of the gain pattern of a typical user terminal antenna. Figure 31 is a functional block diagram of a relay station. Figure 32 depicts a typical gain pattern of a relay station antenna. Figures 33 and 34 are graphs which reveal VHF antenna design trades for a 100W transmitter for altitudes of 1,100 km and 1,856 km, respectively. Figures 35 and 36 present graphs which reveal UHF antenna design trades for a 100W transmitter for altitudes of 1,100 km and 1,856 km, respectively. Figure 37 shows mean and maximum response times for four satellites at different altitudes and latitudes. Figure 38 exhibits the percent of time that a range of latitude is covered by four satellites moving in equatorial orbits. Figure 39 depicts mean and maximum response times for six satellites at various latitudes. Figure 40 shows the percent of time that a range of latitude is covered by six satellites moving in equatorial orbits. Figure 41 displays mean and maximum response times for eight satellites at various latitudes. Figure 42 portrays the percent of time that a range of latitude is covered by eight satellites moving in equatorial orbits. Figure 43 supplies a graph which illustrates the altitude required for thirty-five degree latitude coverage at a specified elevation angle. Figures 44, 45 and 46 provide schematic block diagrams of electronics that utilized to implement one of the embodiments of the invention. Figure 44 shows the VHF only payload, Figure 45 shows dual VHF and UHF link sizing circuitry and Figure 46 shows a combined VHF and UHF payload diagram. Figure 47 shows how satellites transfer data from an equatorial to an inclined orbit via a crosslink through a relay station. Figures 48, 49 and 50 are diagrams showing satellite footprints for satellites orbiting at 800 km, 1,100 km and 1,852 km altitudes. Figures 51, 52 and 53 portray mean and maximum response times for satellites orbiting at 800 km, 1,100 km and 1,852 km altitudes. Figure 54 presents a payload block diagram. BEST MODE FOR CARRΗNG OUT THE INVENTION I. An Equatorial Constellation of Satellites Figure 1 is a schematic view 10 of a constellation of six satellites 12 utilized in one of the embodiments of the present invention. In the text that follows, the term "constellation" refers to the entire group of satellites 12. A complete implementation of the invention which incorporates the constellation as well as equipment such as relay stations on or near the Earth's surface is described by the terms "system" or "network". The satellites 12 shown in Figure 1 operate in an orbit 14 which lies in the same plane as the Earth's Equator 16. In one embodiment, the satellites 12 are equally spaced around an equatorial orbit at an altitude of 1,852 kilometers. In this specification, constellations having different numbers of orbital planes and various populations of satellites 12 in those orbital planes are disclosed. While a variety of numbers of orbit planes and satellites may be employed to implement the present invention, the reader should understand that the invention embraces any configuration that does not utilize geo-stationary spacecraft flying in orbits at an altitude of approximately 23,000 miles, except for using geo-stationary spacecraft as a communications link. Figure 1 shows two lines of latitude, indicated by reference characters 18 and 20, on the surface of the Earth. These lines represent 30 degrees North and 30 degrees South, respectively. The region of the Earth's surface bounded by these lines of latitude 18 and 20 are within the service areas of the satellites 12 in the equatorial orbit 14. Figure 2 reveals an illustration 22 of one embodiment of invention using fourteen equally spaced satellites 12 operating in equatorial orbit 14. The preferred embodiment of the present invention may utilize from six to fourteen satellites 12 in equatorial orbit 14. Figure 3 is a schematic depiction of a satellite 12 that may be employed in one of the embodiments of the invention. This satellite 12 comprises a body 24, solar panels 25, a pair of helical antennas 26 and inter-satellite link antennas 28. Figures 4 and 5 are maps 30 and 32 showing regions of the Earth which lie between 30 degrees North and 30 degrees South latitude. Figure 6 is a schematic diagram which exhibits relay stations 34 located on ground within 30 degrees of the Equator. These equatorial relay stations 34 are capable of communicating with the satellites 12 in the equatorial orbit via uplinks 35a and downlinks 35b. Figures 7, 8 and 9 are maps 36, 44 and 48 that portray footprints 38, 46 and 50 which result from radio beams directed toward the Earth by satellites 12 flying in equatorial orbit 14 at an altitude of 1,852 km. The footprints 38, 46 and 50 are produced by constellations of six, eight and fourteen satellites 12, respectively. Degrees of latitude are shown along the vertical axis, and are delineated by reference character 40, while degrees of longitude are shown along the horizontal axis, and are indicated by reference character 42. Figure 10 is a schematic representation 52 of satellites 12 in equatorial orbit 14 which work in combination with relay stations 34 on the Earth E to send data over uplinks 35a and downlinks 35b. Figure 11 is a diagram 54 which shows satellites 12 communicating over inter- satellite links 55. Figure 12 reveals a diagram 56 of satellites 12 in equatorial orbit 14 using a combination of ground relay stations 34 and inter-satellite links 55 to relay data. Any combination of ground relay stations 34 and inter-satellite links 55 may be employed to speed a message throughout a particular orbital plane. This novel use of relay stations 34 and inter- satellite links 55 enables the system to accelerate the delivery of a message payload to its destination instead of waiting for the satellites 12 in the orbit plane 14 to precess around the Earth to its point of delivery. II. Combined Constellation Including Equatorial, Polar & Inclined Orbits Figure 13 reveals an illustration 58 of satellites 12 which occupy both equatorial and polar orbits 14 and 60. Relay stations on the ground situated in both the equatorial and polar regions 34 and 62 are used to convey messages across orbits. Figure 13 shows an embodiment which uses both equatorial and polar orbits 14 and 60. In the discussion that follows, relay stations referred to as "equatorial relay stations" are generally located within thirty degrees of the Equator. "Polar relay stations" are those situated near the North or South Poles. "Middle-latitude relay stations" are those which provide uplinks and downlinks that are not handled by either the equatorial or polar relay stations. The embodiment shown in Figure 13 offers a system for transmitting a message through a series of equatorial, polar and middle-latitude relay stations 34, 61 and 65. A first satellite 12 traveling in the equatorial orbit 14 receives and stores a message from a first equatorial relay station 34. This communication as indicated as an uplink transfer TR1 in Figure 13. The first satellite continues eastward in its equatorial orbit after this first uplink, and then sends the message down to a second equatorial relay station 34 via downlink TR2. Once the satellite in polar orbit passes within range of this second equatorial relay station, an uplink TR3 occurs, and a satellite heading for the North Pole carries the message northward. Once this satellite in polar orbit passes over a polar relay station 61, downlink TR4 drops the message back to Earth. The same polar relay station 61 then sends the message up in transfer TR5 to a satellite flying south in a neighboring polar orbit 60. This southbound satellite finishes the store-and-forward relay process by dropping the message to middle-latitude relay station 65 via downlink TR6. Any of these relays could be accelerated by intermediate caroms to other ground relay stations or by using inter-satellite links 55. Figures 14 and 15 supply diagrams 62 and 64 of combined fleets of satellites comprising both equatorial and inclined orbits. The inclined orbits shown in Figure 14 are inclined sixty degrees to the Equator, while those shown in Figure 15 are inclined fifty degrees to the Equator. Figure 15 is a perspective diagram of another constellation of satellites which includes equatorial orbits and orbits inclined at fifty degrees to the Equator and in which the relay stations are distributed internationally in a pattern of locations on the Earth which maximize coverage and minimize time to forward messages and data between any two user terminals. While the present invention may use any combination of equatorial and inclined orbits, orbits inclined from fifty to sixty degrees from the Equator have been selected for the preferred embodiment. Figure 16 illustrates the elevation angle 68 of approximately five degrees which is required for reliable operation of the present invention. The elevation angle 68 is the angle measured from the local horizon at a terrestrial terminal such as a relay station 34 up to the region of the sky where the relay station 34 will be capable of communicating with one of the satellites 12 in the constellation. Figure 17 is a graph of latitudinal reach versus altitude from an equatorial orbit to a fifteen degree elevation angle. III. Earth Segment Description Distributed Relay Stations As shown in Figure 15, a preferred embodiment 64 of the present invention employs approximately ten to one hundred "distributed" relay stations 34. The relay stations 34 are distributed internationally in a pattern of locations on the Earth E which maximize coverage and minimize time to forward messages and data between any two user terminals 212, as shown in Figure 19. The relay stations are linked together in several ways as discussed below under the heading "Communication Links and Protocols". Figure 18 shows one of four orbital planes which are inclined at fifty degrees to the Equator. In this embodiment, six equally spaced satellites 12 are placed in each circular, orbital plane 210 at an altitude of 950 kilometers (km). In this embodiment, there is no overlap of the satellite 12 radio beam footprints between satellites 12 in the fifty degree inclined orbits. Ground control of frequency assignments will prevent interference between satellites in these orbits and satellites in equatorial orbit 14. IV. Communications Links and Protocols The present invention comprises a satellite system that will provide store-and-forward coverage of virtually all locations on the Earth's surface. The following discussion is based on one preferred embodiment 64 (refer to Figure 15) in which the constellation includes twenty-four satellites 12 in four orbital planes, equally spaced around the Equator and inclined at 50 degrees. In this preferred embodiment 64, each orbital plane contains six equally spaced satellites in a circular orbit at an altitude of 950 km. While the detailed information in respect of power requirements, surface footprints of each satellite's radio beams, and the like are specific with respect to this embodiment, it will be appreciated by those skilled in the art that the methods and apparatus described are equally applicable to other embodiments having different constellations or orbital planes. User terminals 212 are distributed randomly, primarily in portions of the Earth E which are inhabited. In Figure 19, a primary method of communication between subscribers operating user terminals 212 is shown. A subscriber communicates with a satellite 12 by means of a user terminal-satellite uplink (TSU) 214. The satellite stores the message and forwards it at a later time to another subscriber by means of a user terminal-satellite downlink (TSD) 216. To reduce the time for delivery, the satellite is able to send the message to a relay station 34 through a relay station-satellite downlink (RSD) 35b. The relay station 34 retransmits the message to a second satellite 12 in an orbit 210 which will more quickly pass nearby to the addressee. The retransmission is through a relay station-satellite uplink (RSU) 35a. The second satellite 12 at a later time sends the message to the addressee through a user terminal-satellite downlink (TSD) 216. In Figure 19, relay station 34 is a message-forwarding terminal, since it holds a message from a subscriber obtained by means of a relay station-satellite downlink 35b transmission. The relay station 34 may hold this message until another satellite in the constellation comes within range or, depending on the destination it may forward the message by one of the relay means described below. Distributed Linked Relay Stations The relay stations 34 are distributed internationally in a pattern of locations on the Earth E which maximize coverage and minimize time to forward messages and data between any two user terminals 212. To reduce the time of delivery of message traffic even further, the distributed relay stations 34 may be linked together in several ways as depicted in Figure 20. In one alternative embodiment, a group of equatorial relay stations 224, eight to twelve in number, are spaced along the Equator 16. These equatorial relay stations 224 are used to store and forward traffic sent from satellites travelling in opposite directions in orbits 210 inclined by fifty to sixty degrees. This method is similar to the method used by the polar relay stations 34 to store and forward traffic from satellites in more steeply inclined or polar orbits 60. In another alternative embodiment, relay stations 34 are linked through a geostationary communication satellite 218 by use of very small aperture terminals (VSAT's). In a variation of this embodiment, large low Earth orbit communications satellites may be used for these linkages in place of the much higher altitude geostationary satellites 218. In still another alternative embodiment, relay stations 34 are linked through public, switched telephone networks 220, which are available in most of the developed world. To provide a great deal of system reliability, certain relay stations 34 can function as a message- forwarding station, or a network operation control center (NOCC). For example, if the message held at a relay station in New York is addressed to an addressee in California, the message may be forwarded by the public, switched telephone network 220. The ability of a relay station 34 to select among alternative network means to forward messages enables the provision of an "auction protocol" for users. In its initial communication with a user, the satellite 12 "announces" the level of traffic it is currently accepting. The level of traffic is varied from, say level one, the fastest and most expensive mode of delivery to the next fastest and less expensive mode of delivery and so on until the slowest and least expensive level is reached. A user can, therefore, elect to send a message at the highest level of service, or wait for a cheaper, lower level of service. This protocol is further discussed in the section describing the user terminal-satellite downlink 216 protocol. The satellite system (52, 54, 56, 58, 62, 64) will be distinguished by the range of services offered, the low cost of its service options relative to those offered by similar proposed service providers and its high spectral efficiency. The types of services provided by the present invention include tracking and monitoring for the transportation industry, monitoring of remote assets or site locations, such as vehicles, boats and vacation homes or remote utility equipment, E-mail, paging and emergency services. Telecommunication Frequencies and Spectrum The present invention has been designed from the outset to make efficient use of the scarce spectrum available. Table A3 below summarizes the total spectrum available in the U.S. for this type of service, resulting from the allocations made at WARC-92 and in the Commission's Order allocating spectrum for the NVNG MSS. Table A3 - MSS Frequency Allocations Below 1 GHz Earth-to-Space Space-to-Earth 148.000 to 150.050 MHz 137.000 to 138.000 MHz 399.900 to 400.050 MHz 400.150 to 401.000 MHz This amounts to a total of 2.2 MHz for the Earth-to-space links (uplink) and 1.85 MHz for the space-to-Earth links (downlink). However, parts of this available spectrum are only allocated on a secondary basis to the MSS service, and even the primary MSS allocations are allocated on a co-primary basis to other services, such as Fixed, Mobile, Meteorological-Satellite, Space Operation, Space Research and Meteorological Aids. The ability of the system to effectively and efficiently share the spectrum in this type of environment is therefore of paramount importance. Figure 21 graphically depicts the frequencies and bandwidths at which the satellite system will communicate messages. The TSUs and the RSUs will operate in the 148-149.9 MHz band and the TSD and RAD will operate in the 137.175-137.825 MHz band. All of the links will carry "packetized" digital data. Network packets will be used for resource request and assignment, and other network control functions. Monitoring packets will be used for monitoring applications. Text packets will be used for message applications. The Text packet length will be selected to comply with footnote US323 to the Frequency Allocation Table, 47 C.F.R. § 2.106. Footnote US323 requires that, in the 148-149.9 MHz band, single transmissions from individual Earth stations may not exceed 450 msec in duration (4160 bits/9.6 kbps =433.3 msec). Frequency assignments for the satellite downlinks (35b, 216) will be in four segments. That is, for all satellites 12 in a given orbital plane 210, the frequencies will be the same. Because of no overlap in the radio beam footprints of the six satellites 12 travelling in each fifty degree inclined orbit 210, there is no interference between these satellites 12. Ground control of frequency assignments will prevent interference between satellites 12 in these orbits and satellites 12 in equatorial orbit 14. In this embodiment 64, since satellites 12 in sectors of orbits 210 on the same side of the Earth E will be transmitting on the same frequencies without interference from other satellites 12, it is possible to reduce the bandwidth of the TSD downlink signal spectrum to one-fourth of that used in some other embodiments. Each satellite 12 in this embodiment 64 has six receive channels. Other embodiments may require up to fifteen receive channels. The method of channel assignment to the user terminal transmitters is discussed below in the Section entitled "Dynamic or Adaptive Channel Assignment". Data Transmission Figure 22 is a packet structure diagram 225 showing the information contained in certain fields. For example, the first field may contain the address of the recipient. The second field may contain the "hop" count or how many relays have occurred to the current time. The next field may contain the sequence count or frame number. The fourth field may contain the sender's identification, and so on. Table A4 below describes the packet structures. Table A4: Packet Structures Network Monitorinε Text Data 12 bytes 80 bytes 500 bytes Overhead 20 bytes 20 bytes 20 bytes Total 32 bytes 100 bytes 520 bytes The user terminal-satellite link bit error rate objective is 10 "6 and the relay station-satellite link bit error rate objective is 10 "8 . The packet overhead bits allow for synchronization, parity check, sequencing, status, and addressing and routing. Forward error correction coding is employed in the store-and-forward system. Raw data bits are mapped into symbols in a manner which results in each symbol containing information about multiple bits. Lost data bits can therefore be recovered. Each satellite will support six TSUs 214 at a data transmission rate of 9.6 kilobits per second (kbps), one TSD at a data rate of 24 kbps, one RSU 35a at a data rate of 50 kbps, and one RSD 35b at a data rate of 50 kbps. Thus, the user terminals 212 may transmit at 9.6 kbps and receive at 24 kbps. The TSU bandwidth is 15 Kilohertz (KHz) and the TSD bandwidth is 28.8 KHz. The relay stations 34 will transmit and receive at 50 kbps and have a bandwidth of 50 KHz. While the nominal TSU transmission data rate is 9.6 kbps, lower cost user terminals 212 are possible if lower data rates are used. Therefore, data rates as low as 300 bps will be available. For example, a user terminal 212 might transmit at standard data rates of 9600, 4800, 2400, 1200 600 or 300 bps. Besides the low cost and availability of equipment capable of the lower transmission rates, battery power requirements are reduced substantially which makes this method attractive for hand held or periodic reporting user terminals 212. For example, burst power for a 300 bps signal is only about 20 milliwatts compared to about five watts for a 9.6 kbps signal. The system will use a combination of random access and frequency division multiplexing (FDM) for the TSUs 214 and time division multiplexing (TDM) for the other links. FDM is preferred for the TSUs 214 because it does not require high burst power transmissions from the user terminals 212 that would be required for a single wideband TDM channel. TDM is preferred for the other links because it allows for the use of efficient saturated power amplifiers in the satellites 12 and relay stations 34, 61, 65. Back-off is not required to control intermodulation levels since there will be only a single RF carrier in these links. All of the links will use differentially encoded offset-quadraphase shift keying (OQPSK) modulation filtered for 50% excess bandwidth in combination with rate 7/8, constraint length 7, convolutional coding. This format has been selected because of its high combined modulation/coding efficiency of 1.17 bits/sec/Hz. However, frequency shift keying (FSK) modulation is also used on a time-shared basis to support low-cost user terminals 212. A user terminal 212 can use an FSK demodulator absorbing only "trickle" power, i.e. , low current, while waiting for a satellite signal to appear. An FSK signal can be sent at reduced data rate, for example 6 kbps, because of a smaller portion of spectrum occupied by an FSK modulated signal. A ground station looks for an ID code in the FSK mode. It can then, if desired, turn on the OQPSK keying demodulator and operate at a faster rate. The downlink (35a, 216) signal is partitioned into 500 millisecond (ms) frames. Initially, signals are FSK modulated. Later signals in the 500 ms frame may be FSK or OQPSK modulated depending on the demand. The network operation control center NOCC varies the time-sharing between FSK and OQPSK modulation depending on traffic load. The uplink (35b, 214) signals are OQPSK modulated, although the use of FSK modulation and lower data rates offer some cost reduction. The required channel bandwidths are a function of the data rate, the spectral efficiency of the modulation and coding, the user terminal or relay station and satellite frequency stability, the uncompensated Doppler shift and the channel filtering. The required channel bandwidths are summarized in Table A5. Table A5: Channel Bandwidth Requirements User Term. User Term. Relay Sta. Relay Sta. Unlink Downlink Unlink Downlink Signal Bandwidth 8.2 KHz 20.5 KHz 42.8 KHz 42.8 KHz + /- Frequency Stability 0.6 0.3 0.3 0.3 +/- Doppler 4. 4 4.0 4.4 4.0 Total 13.2 24.8 47.5 47.1 Channel Bandwidth 15 KHz* 28.8 KHz 50 KHz 50 KHz *A single user terminal requires 15 KHz, therefore six simultaneous users require 90 KHz bandwidth. To implement the "auction" protocol, the satellite 12 indicates what level of traffic it is accepting within the 500 ms frame of the first burst of data. User terminals wishing to send that level of traffic will do so. Terminals having lower levels of traffic will wait. The auction protocol sequentially lowers the level of traffic it is accepting until all users desiring the highest to the lowest level of service are accommodated. The present invention uses a combination of random access and frequency division multiplexing (FDM) for the TSUs and time division multiplexing (TDM) for the other links. FDM is preferred for the TSUs because it does not require high burst power transmissions from the transceivers that would be required for a single wideband TDM channel. TDM is preferred for the other links because it allows for the use of efficient saturated power amplifiers in the satellites and gateways. Back-off is not required to control intermodulation levels since there will be only a single RF carrier in these links. Dynamic or Adaptive Channel Assignment Figure 23 depicts a functional block diagram of the satellite subsystems which includes the RF communications subsystem 230. The communications payload 280 which includes the RF communications subsystem 230 a computer subsystem and a frequency reference, is shown in block diagram in Figure 23. The satellite 12 monitors the pool of frequencies in the 148.0 to 149.9 MHz band and assigns channels to user terminals 212 as available. A band-scanning receiver contained in the RF communications section 230 of the satellite 12 is a digital spectrum analyzer. The receiver scans the TSU band each 0.5 seconds for TSU signals. The computer subsystem projects channel usage for the next 0.5 seconds and in the first burst of the protocol, instructs a calling user terminal 212 which channel to use. An algorithm is used to make the channel projection based on the half-second sample history. Communications Payload Description A functional block diagram of the communications payload is shown in Figure 24. The antenna subsystem converts the free space propagated waveforms into RF signals for processing by the user terminal-satellite uplink (TSU) receiver, the relay station-satellite uplink (RSU) receiver, and the band scanning receiver. It also converts the RF signals from the user terminal- satellite downlink (TSD) transmitter and the relay station-satellite downlink (RSD) transmitter into free space propagated waveforms. Two transmitting antennas are used, one for the TSD links and the other for the RSD links. This will eliminate the combining loss that would occur if the TSD and RSD signals were radiated from the same antenna. The spacecraft antennas will be shaped to partially compensate for the changing free space propagation loss due to the range variation that occurs between the time the satellite appears at the lowest elevation angle and the time it is directly overhead. This maximum variation in path loss corresponds to about 7.5 dB in propagation loss. As a result, the preliminary spacecraft antenna design has a gain of -2 dBi in the nadir direction and +5.5 dBi at a fifteen degree grazing angle. The satellite antenna gain pattern is shown in Figure 25. The satellite antennas will be left-hand circular polarized, though right-hand polarization is also possible. The TSU receiver will downconvert, demodulate, and decode the uplink signals received from the transceivers. The TSU receiver will provide the demodulated packets to the computer subsystem at 57.6 kbps for processing. The RSU receiver will perform the same functions for the RSU channel. The TSD transmitter will accept packetized data from the computer subsystem at 24 kbps, encode and modulate the data, upconvert it to the transmit channel, frequency, and provide 20 watts of transmit power using a solid-state power amplifier (SSPA). The RSD transmitter will perform the same functions for the 50 kbps RSD data using a 2.5W SSPA. The band scanning receiver will scan the potential transceiver-satellite uplink channels in the 148-149.9 MHz band in 15 KHz increments to determine channel activity and signal levels. The six least active channels will be identified twice per second and this information will be broadcast to the transceivers. The frequency reference subsystem will provide stable frequency and time signals to the other functions. The computer subsystem will process all of the received packets, store them in memory, and retransmit them as required. It also will use the data from the band scanning receiver to make TSU channel assignments. Key communications payload 280 parameters are shown in Table A6. Table A6: Key Satellite Communications Payload Parameters Antenna Nadir Gain -2 dBi Edge of Coverage Gain 5.5 dBi Edge of Coverage Beamwidth 111 degrees Polarization LHC TSD Transmitter Frequency Band 137.175-137.825 MHz Number of Channels 1 Transmit Power 20 W 99% Power Channel Bandwidth 20.5 KHz Data Rate 24 kbps RSD Transmitter Frequency Band 137.175-137.825 MHz Number of Channels 1 Transmit Power 2.5 W 99% Power Channel Bandwidth 42.8 KHz Data Rate 50 kbps TSU Receiver Frequency Band 148-149.9 MHz Number of Channels 6 Channel Bandwidth 15 KHz Per Channel Data Rate 9.6 kbps to 300 bps, variable Noise Figure 4 dB RSU Receiver Frequency Band 148-149.9 MHz Number of Channels 1 Channel Bandwidth 50 KHz Per Channel Data Rate 50 kbps Noise Figure 4 dB Band Scanning Receiver Frequency Band 148-149.9 MHz Number of Channels 1 Channel Bandwidth 15 KHz Noise Figure 4 dB Frequency Reference Frequency Stability 0.1 PPM over environment and time Computer Memory 16 Mbytes The TSD and RSD transmitter filters response characteristics are shown in Figures 26 and 27 respectively. These filters protect the radio astronomy service in the 150.05-153 MHz and 406.1-410 MHz bands from harmful interference by limiting spurious emissions in those bands. Because the spacecraft will be processing satellites, it will be impossible for signals received from sources outside of the network to cause output signals different from intended output signals. V. User Terminals As illustrated by Figure 28, the present invention will provide a family of low-cost user terminals or transceivers to support a variety of different applications. The heart of these transceivers is the modem module 300. The modem 300 will be small, less than ten cubic inches, and capable of battery operation. It will be available in pocket-sized, desktop, and vehicle mounted transceiver configurations. Application-specific transceiver configurations will be constructed by combining the modem module 300 with other modules, as shown in Figure 28. A schematic illustration of the modem module 300 is provided in Figure 29. Table A7 provides examples of how these modules might be combined for different applications, although other combinations are possible. Prices for a basic transceiver are expected to be under US$500. Table A7: Possible Module Combinations for Different Applications Leo One Batterv Whip AC Expanded Parallel Palmtop Applications Modem Pack Antenna Adapter Memory GPS Interface PC Status X X X X Monitoring Vehicle X X Tracking Paging X X X E-Mail X X X X X Security X X X X Monitoring and Control Emergency X X X Alerting User Terminal Technical Parameters The modem module 300 will interface directly with an antenna. In most applications, the standard antenna will be a normal-mode helix similar to those used with conventional hand-held VHF transceivers. In vehicle mounted applications, the standard vehicle FM radio antenna or an enhanced replacement will be used. The TSD receiver will downconvert, demodulate, and decode the 24 kbps satellite downlink channel. The TSU transmitter will accept packetized data from the computer subsystem at rates variable from 9.6 kbps to 300 bps, encode and modulate the data, upconvert it to the transmit channel frequency, and provide about 5W of transmit power. The frequency reference subsystem will provide stable frequency and time signals to the other functions. The computer subsystem will process the received packets and make the data available to the other modules or directly to the subscriber via an RS-232 port. The computer will receive data to be packetized and uplinked from other modules or directly from the subscriber via an RS-232 port. The key user terminal 212 technical parameters are summarized in Table A8. User terminals 212 are designed to be incapable of radiating in the 108-137 MHz bands. The satellites have high velocities relative to a fixed terminal on the Earth's surface resulting in large Doppler shifts on the transmitted and received RF carriers. In the 148-149.9 MHz uplink band, the worst case Doppler shifts will be 2.2 KHz and in the 137-138 MHz downlink band they will be 2.0 KHz. The user terminals will track the user terminal-satellite downlink Doppler, scale the measured value by the uplink/downlink frequency ratio, and pre-compensate the user terminal-satellite uplink transmissions such that the signals are received at the satellite with no apparent Doppler shift. This will virtually eliminate frequency acquisition time at the satellite. Even an inexpensive user terminal frequency reference will reduce the apparent Doppler to less then 300 Hz. The maximum user terminal transmit power of about 5W in conjunction with the low, 1 % maximum, duty cycle will ensure that the user terminals will comply with all relevant radiation exposure safety standards. Table A8: Key User Terminal Parameters Antenna Pattern Non-Directional Polarization Vertical Transmitter Frequency Band 148-149.9 MHz Channel Bandwidth 15 KHz Number of Active Channels 1 Doppler Pre-Compensation ±2.2 KHz Transmit Power 5 W Burst Duration 450 msec Burst Spacing 15 seconds Duty Cycle 9 seconds every 15 minutes 99% Power Bandwidth 8.2 KHz Modulation OQPSK Coder Convolutional r = 7/8, K = 7 Data Rate 9.6 kbps to 300 kbps Receiver Frequency Band 137.175-137.825 MHz Channel Bandwidth 28.8 KHz Number of Active Channels 1 Doppler Pull-in Range ±2.0 KHz Demodulation OQPSK & FSK Decoder Soft Decision Viterbi r = 7/8, K = 7 Data Rate 24 kbps Noise Figure 4 dB Implementation Loss 2 dB Frequency Reference Frequency Stability 1.0 PPM over environment and time User Terminal and Relay Station Antenna Gain Patterns A typical user terminal 212 antenna gain pattern is shown in Figure 30. A typical relay station 34 antenna gain pattern is shown in Figure 32. Gateway Technical Parameters and Operation A relay station 34 functional block diagram 330 is shown in Figure 31. The RSD receiver 334 will downconvert, demodulate, and decode the 50 kbps satellite downlink channel and provide the demodulated packets to the computer subsystem for subsequent processing. The RSU transmitter 332 will accept packetized data from the computer subsystem 336 at 50 kbps, encode and modulate the data, upconvert it to the transmit channel frequency, and provide 1.8 W of transmit power. The frequency reference subsystem 338 will provide stable frequency and time signals for the other functions. The computer subsystem 336 will perform the packet and network overhead functions including packet routing and billing. It will control the open loop pointing of the gateway antenna to acquire and follow the satellites. In addition, it will process Doppler frequency measurements of the satellite signals to refine their orbital estimates. The TT&C subsystem 340 will decode and process the telemetry data packets from the satellites 12 and generate and encode command packets for transmission to the satellites. All of the TT&C data will be encrypted to prevent unauthorized control of the satellites. The NOCC subsystem 342 will allow for control of the constellation. The NOCC functions will include resolving overlap conflicts by commanding one of the overlapping satellites to cease operation during the overlap and monitoring constellation traffic levels. The key gateway technical parameters are summarized in Table A9. Table A9: Key Relay Station Technical Parameters Antenna Operating Frequency 137-138 MHz & 148-149.9 MHz Polarization LHC Gain 16 dBi Half Power Beamwidth 22.5 degrees Receiver Frequency Band 137.175-137.825 MHz Channel Bandwidth 50 KHz Number of Channels 1 Doppler Shift 2.1 KHz Demodulation Differential OQPSK Decoding Soft Decision Viterbi, r = 7/8, K = 7 Data Rate 50 kbps Noise Figure 4 dB Implementation Loss 2 dB Transmitter Frequency Band 148-149.9 MHz Channel Bandwidth 50 KHz Signal Bandwidth (99% power) 71.3 KHz Number of Channels 1 Transmit Power 1.8 Watts Modulation Differential OQPSK and FSK Coding rate-7/8, constraint length 7 convolutional Data Rate 50 kbps Frequency Reference Frequency Accuracy 0.1 PPM over environment and time The relay stations 34 will poll the satellites 12 to initiate data transfer. The relay stations 34 will predict when each satellite will appear above the minimum elevation mask angle and use open loop pointing of the relay station 34 antenna to acquire and follow the satellite 12. The relay stations 34 will estimate the satellite signal Doppler shift to minimize acquisition time. The relay stations 34 will use Doppler frequency measurements of the satellite signals to refine their orbital estimates. The relay station-satellite uplink (RSU) and relay station-satellite downlink (RSD) signals are partitioned into 500 msec frames. Each frame will be divided into two time slots. The first time slot will be reserved for network control (Network packets). The remaining time slot will allow for the transfer of Text packets, Monitoring packets, or some combination. All packet exchanges will be acknowledged by the recipient using Network packets. The relay station 34 and the satellite will send at least one Network packet in the network control time slot until the relay station signs off. VI. Satellite & Orbital Configurations for Preferred & Alternative Embodiments Figures 33 and 34 are graphs which reveal VHF antenna design trades for a 100W transmitter for altitudes of 1,100 km and 1,856 km, respectively. Figures 35 and 36 present graphs which reveal UHF antenna design trades for a 100W transmitter for altitudes of 1,100 km and 1,856 km, respectively. Figure 37 shows mean and maximum response times for four satellites at different altitudes and latitudes. Figure 38 exhibits the percent of time that a range of latitude is covered by four satellites moving in equatorial orbits. Figure 39 depicts mean and maximum response times for six satellites at various latitudes. Figure 40 shows the percent of time that a range of latitude is covered by six satellites moving in equatorial orbits. Figure 41 displays mean and maximum response times for eight satellites at various latitudes. Figure 42 portrays the percent of time that a range of latitude is covered by eight satellites moving in equatorial orbits. Figure 43 supplies a graph which illustrates the altitude required for thirty-five degree latitude coverage at a specified elevation angle. Figures 44, 45 and 46 provide schematic block diagrams of electronics that utilized to implement one of the embodiments of the invention. Figure 44 shows the VHF only payload, Figure 45 shows dual VHF and UHF link sizing circuitry and Figure 46 shows a combined VHF and UHF payload diagram. Figure 47 shows how satellites transfer data from an equatorial to an inclined orbit via a crosslink through a relay station. Figures 48, 49 and 50 are diagrams showing satellite footprints for satellites orbiting at 800 km, 1,100 km and 1,852 km altitudes. Figures 51, 52 and 53 portray mean and maximum response times for satellites orbiting at 800 km, 1,100 km and 1,852 km altitudes. Figure 54 presents a payload block diagram. INDUSTRIAL APPLICABILITY The Satellite System Using Equatorial & Polar Orbit Relays described above will provide new non-voice, non-geostationary mobile satellite service to millions of subscribers across the globe. The present invention will offer a wide range of vital services, including tracking and monitoring for the transportation industry; fixed site monitoring of industrial/utility locations; monitoring and tracking for misplaced or stolen assets; transmission of e-mail; two-way alphanumeric paging and emergency services. CONCLUSION Although the present invention has been described in detail with reference to a particular preferred embodiment, persons possessing ordinary skill in the art to which this invention pertains will appreciate that various modifications and enhancements may be made without departing from the spirit and scope of the claims that follow. The various orbital parameters, satellites altitudes and populations and locations of the user terminals and relay stations that have been disclosed above are intended to educate the reader about preferred embodiments, and are not intended to constrain the limits of the invention or the scope of the claims. The List of Reference Characters which follows is intended to provide the reader with a convenient means of identifying elements of the invention in the specification and drawings. This list is not intended to delineate or narrow the scope of the claims. LIST OF REFERENCE CHARACTERS Figure 1 10 Illustration of one embodiment of invention using six satellites in equatorial orbit 12 Satellite 14 Equatorial orbit 16 Equator 18 30 degrees North latitude 20 30 degrees South latitude E Earth Figure 2 22 Illustration of one embodiment of invention using fourteen satellites in equatorial orbit Figure 3 24 Satellite body 25 Solar panels 26 Helical antennas 28 Inter-satellite link antennas Figures 4 & 5 30 Coverage areas on ground between 30 degrees North & 30 degrees South 32 Coverage areas on ground between 30 degrees North & 30 degrees South Figure 6 34 Relay stations located on ground within 30 degrees of Equator 35a Uplink 35b Downlink Figures 7, 8 & 9 36 Illustration of footprints from 6 satellites in equatorial orbit at 1,852 km 38 Footprint from one of 6 satellites at 1,852 km 40 Latitude 42 Longitude 44 Illustration of footprints from 8 satellites in equatorial orbit at 1,852 km 46 Footprint from one of 8 satellites at 1,852 km 48 Illustration of footprints from 14 satellites in equatorial orbit at 1,852 km 50 Footprint from one of 14 satellites at 1,852 km Figure 10 *>' 52 Diagram of satellites in equatorial orbit using ground stations to relay data Figure 11 54 Diagram of satellites in equatorial orbit using inter-satellite links to relay data 55 Inter-satellite links Figure 12 56 Diagram of satellites in equatorial orbit using ground stations and inter-satellite links to relay data Figure 13 58 Diagram of satellites in equatorial and polar orbits with equatorial and polar relay stations 60 Polar orbits 61 Polar relay station 65 Relay stations at middle latitudes NP North Pole TR1 Transfer 1 TR2 Transfer 2 TR3 Transfer 3 TR4 Transfer 4 TR5 Transfer 5 TR6 Transfer 6 Figure 14 62 Illustration of combined fleet of satellites in equatorial and 60 degree inclined orbits 63 Orbits inclined at 60 degrees Figure 15 12 Satellite 14 Equatorial orbit 34 Relay stations within 30 degrees of Equator 64 Illustration of combined fleet of satellites in equatorial orbit and 50° inclined orbits 65 Relay stations at middle latitudes 210 Fifty degree inclined orbit Figure 16 34 Relay stations 68 Elevation angle E Earth Figure 18 12 Satellite 16 Equator 210 Fifty degree inclined orbit E Earth NP North pole SP South pole Figures 19, 20 & 21 12 Satellite 34 Relay stations 35a Relay station uplink (RSU) 35b Relay station downlink (RSD) 212 User terminal 214 Terminal-to-satellite uplink (TSU) 216 Terminal-to-satellite downlink (TSD) 218 Geostationary communications satellite 220 Public, switched telephone network (PSTN) 222 Satellite very small aperture terminal (VSAT) links 224 Equatorial relay stations Figure 22 225 Packet structure diagram Figure 23 230 RF communications subsystem 240 Tracking, telemetry & control computer 250 Attitude determination and control subsystem 260 Electric power subsystem 270 Thermal control subsystem Figure 24 280 Communications payload block diagram Figure • 28 300 Modem module 302 Expanded memory 304 Parallel interface 306 AC adapter 308 Palmtop personal computer 310 Global positioning system 312 Battery pack 314 Whip antenna Figure 29 300 Modem module 314 Antenna 320 Terminal-to-satellite downlink (TSD) receiver 322 Terminal-to-satellite uplink (TSU) transmitter 324 Computer subsystem 326 Frequency reference Figure 31 330 Relay station functional block diagram 332 Relay station-to-satellite uplink (RSU) transmitter 334 Relay station-to-satellite downlink (RSD) receiver 336 Computer subsystem 338 Frequency reference 340 Tracking, telemetry and control subsystem 342 Network operation and control center subsystem 344 PTT interface

Claims: CLAIMS What is claimed is: 1. A satellite communications system comprising: a plurality of equatorial, polar and middle latitude relay stations (34, 61, 65); said relay stations (34, 61, 65) being located circumferentially along Earth's equator (16), near Earth's poles (NP, SP) and in regions of Earth's middle-latitudes, respectively; a first satellite (12) operating in an equatorial, low Earth orbit (14); a second satellite (12) operating in an inclined, low Earth orbit (60, 63, 210); said first satellite (12) being capable of communicating with said plurality of equatorial relay stations (34) over uplinks (35a) and downlinks (35b); said second satellite (12) being capable of communicating with at least one of said plurality of polar relay stations (61) with at least one of said plurality of middle-latitude relay stations (65) and with at least one of said plurality of equatorial relay stations (34); said first satellite (12) being capable of storing a message from a first equatorial relay station (34) and forwarding said message to a second equatorial relay station (34); and said second satellite (12) capable of receiving said message from said second equatorial relay station (34) and forwarding said message to one of said plurality of polar and middle-latitude relay stations (61, 65). 2. The satellite communications system as claimed in Claim 1 further including a plurality of satellites (12) operating in said equatorial and inclined orbits (14, 60, 63, 210); said plurality of satellites (12) operating in said equatorial orbit (14) being capable of communicating over inter- satellite links (55). 3. The satellite communications system as claimed in Claim 1 in which any combination of said uplinks (35a), said downlinks (35b) and inter-satellite links (55) may be employed to accelerate delivery of said message throughout a particular orbital plane (14, 60, 63, 210). 4. The satellite communications system as claimed in Claim 2 in which said plurality of satellites (12) includes at least six satellites (12), equally spaced in said equatorial orbit (14). 5. The satellite communications system as claimed in Claim 2 in which said plurality of satellites (12) includes a maximum of fourteen satellites (12), equally spaced in said equatorial orbit (14). 6. The satellite communications system as claimed in Claim 2 in which each said plurality of satellites (12) is capable of communicating over a generally circular area (44), between a latitude on the Earth (E) of thirty degrees north (18) and a latitude on the Earth (E) of thirty degrees south (20). 7. A satellite communications system comprising: a plurality of relay stations (34, 61, 65); a plurality of user terminals (212); a plurality of satellites (12) operating in a plurality of equatorial (14) and polar (60) or inclined (63, 210) low Earth orbits; each of said plurality of satellites (12) being capable of communicating with at least one of said plurality of relay stations and with one of said plurality of user terminals (212); said plurality of user terminals (212) being randomly distributed, primarily in portions of the Earth (E) which are inhabited; said plurality of relay stations (34) being distributed at locations on the -Earth (E) which maximizes coverage for communicating and minimizes time to forward messages and data between any two of said plurality of user terminals (212); at least one of said plurality of relay stations (34) being capable of functioning as a network operation and control center (NOCC); and said relay stations (34) being capable of communicating with each other. 8. The satellite communications system as claimed in Claim 7 in which said plurality of low Earth orbits (14, 60, 63, 210) includes four orbital planes (210), each of said orbital planes (210) being inclined at fifty degrees. 9. The satellite communications system as claimed in Claim 7 in which said plurality of low Earth orbits (14, 60, 63, 210) includes five orbital planes, four of said orbital planes being inclined at fifty degrees and one of said orbital planes being inclined at zero degrees. 10. The satellite communications system as claimed in Claim 7 in which said plurality of low Earth orbits (14, 60, 63, 210) includes three orbital planes, two of said orbital planes being inclined at sixty degrees and one of said orbital planes being inclined at zero degrees. 11. The satellite communications system claimed in Claim 7 in which said plurality of satellites (12), operating in said plurality of equatorial (14) orbits, are capable of communicating over inter- satellite links (55). 12. The satellite communications system as claimed in Claim 7 in which each one of said plurality of user terminals (212) includes a modem (300) capable of interconnecting a computer system RS232 port to a satellite (12). 13. The satellite communications system as claimed in Claim 7 in which said relay stations (34) are capable of communicating with each other using: a very small aperture terminal (VSAT) link (222) through a geostationary satellite (218); a public switched telephone network (PSTN) (220); a link through a large, low Earth orbit communications satellite (12); and a link through a network of relay stations (224) on the surface of the Earth (E) at the equator (16). 14. The satellite communications system claimed in Claim 7 which further includes: said plurality of satellites (12) having dynamic, adaptive channel assignment means for monitoring a pool of radio frequencies in a 148.0 to 149.9 MHz band and assigning channels to said plurality of user terminals (212) as available; said dynamic, adaptive channel assignment means capable of scanning said pool of radio frequencies in a half- second interval for signals indicating channel usage, projecting channel usage for an ensuing half-second and thereafter instructing a calling user terminal (212) which channel to use. 15. The satellite communications system as claimed in Claim 7 in which: said plurality of satellites (12), said plurality of user terminals (212) and said plurality of relay stations (34, 61, 65) are capable of transmitting and receiving a plurality of packets (225) of data and system overhead information; said plurality of satellites (12) are also capable of transmitting a downlink signal (35b, 216) having a spectrum divided into four segments, each one of said segments being used in one of said four orbital planes; said downlink signal (35b, 216) includes a plurality of frames of 500 millisecond duration; said downlink signal (35b, 216) has a frequency shift keying (FSK) modulation and a quadraphase shift keying (QPSK) modulation of said packet transmissions in each of said plurality of frames in a time-shared manner; said plurality of satellites (12) are also capable of receiving an uplink signal (35a, 214) in which said quadraphase shift keying (QPSK) modulation is used for transmitting said plurality of packets (225); said plurality of satellites (12) are also capable of receiving a user terminal-satellite uplink signal (214) and transmitting a user terminal-satellite downlink signal (216) having a variable data rate, said data rate variable from a low rate to provide for reduced burst power demand and reduced cost of equipment for said user terminals (212), to a high rate for rapid transmission of data; said user terminal-satellite uplink signal (214) uses a combination of random access and frequency division multiplexing (FDM); and said downlink signal (35b, 216) and said relay station-satellite uplink signal (35a) uses a time division multiplexing; said plurality of satellites (12) and said user terminals (212) are also capable of employing an auction protocol in a first burst of data in which said satellite (12) announces a level of message traffic being currently accepted for storage and forwarding, said level of message traffic being variable from a most expensive, fastest forwarding traffic to a least expense, slowest forwarding traffic. 16. The satellite communications system as claimed in Claim 8 in which said plurality of satellites (12) includes twenty-four satellites (12), six of said satellites (12) orbiting in each of said four orbital planes. 17. The satellite communications system as claimed in Claim 9 in which said plurality of satellites includes thirty satellites, six satellites (12) orbiting in each of said five orbital planes. 18. The satellite communications system claimed in Claim 11 in which said plurality of satellites (12), operating in said plurality of equatorial orbits (14), are capable of using a combination of said ground relay stations (34) and said inter-satellite links (55) to relay data to a point of delivery. 19. The satellite communications system claimed in Claim 12 in which said modem (300) is a module capable of interconnection, by itself or in combination, with an antenna (314), a personal computer (308), a parallel interface (304), an expanded memory (302), and a global positioning system (310). 20. The satellite communications system claimed in Claim 12 in which said modem (300) includes an uplink transmitter (322) and a downlink receiver (320) capable of communicating with said plurality of satellites (12) a plurality of packets (225) of data and system overhead information. 21. The satellite communications system claimed in Claim 12 in which said modem (300) is capable of pre-compensating each of said plurality of user terminals (212) for Doppler shift of said downlink signal (216) from said plurality of satellites (12) minimizing frequency acquisition time by each of said plurality of satellites (12); said modem (300) being capable of tracking a Doppler effect of said downlink signal (216) and scaling the measured value of said Doppler effect by a ratio of said uplink signal (214) frequency to said downlink signal (216) frequency, and adjusting the user terminal-satellite uplink signal (214) such that said uplink signal (214) is received at said satellite (12) corrected for said Doppler shift. 22. The satellite communications system claimed in Claim 14 in which said dynamic, adaptive channel assignment means includes a computer subsystem (324) having an algorithm for said projecting channel usage, said algorithm based on a sample history of scanning for said half- second intervals. 23. The satellite communications system as claimed in Claim 15 in which said variable data rate for a user terminal-satellite uplink signal (214) ranges from 9.6 kbps to 300 bps, and said variable data rate for a relay station-satellite downlink signal (35b) ranges from 24 kbps for QPSK modulation to 6 kbps for FSK modulation. 24. A method of satellite communications comprising the steps of: providing a plurality of equatorial, middle-latitude and polar relay stations (34, 61); said relay stations being located circumferentially along Earth's equator (16), in regions of Earth's middle-latitudes and near Earth's poles, respectively; operating a first satellite (12) in an equatorial, low Earth orbit (14); operating a second satellite (12) in an inclined, low Earth orbit (60, 63, 210); communicating between said first satellite (12) and one of said plurality of equatorial relay stations (34) over uplinks (35a) and downlinks (35b), and with one of said plurality of satellites in equatorial orbit (14) over inter-satellite links (55); communicating between said second satellite (12) and at least one of said plurality of equatorial relay stations (34), middle-latitude relay stations (34) and polar relay stations (61); storing a message from a first equatorial relay station (34) in said first satellite (12) and forwarding said message to a second equatorial relay station (34); receiving said message from said second equatorial relay station (34) with said second satellite (12) and forwarding said message to at least one of said plurality of middle- latitude relay stations (34) and polar relay stations (61). 25. A method of satellite communications comprising the steps of: providing a plurality of relay stations (34, 61, 65); distributing said plurality of relay stations (34) at locations on the Earth (E) which maximize coverage for communicating and minimize time to forward messages and data between any two user terminals (212); providing a plurality of user terminals (212); distributing said plurality of user terminals (212) randomly, primarily in portions of the Earth (E) which are inhabited; operating a plurality of satellites (12) in a plurality of equatorial (14), polar (60) and inclined (63, 210) low Earth orbits; communicating between each of said plurality of satellites (12) and at least one of said plurality of relay stations (34) and said plurality of user terminals (212); and communicating, one with another, between said relay stations (34). 26. The method of satellite communications as claimed in Claim 25 in which communicating between said first satellite (12) and one of said plurality of equatorial relay stations (34) over uplinks (35a) and downlinks (35b), and with one of said plurality of satellites in equatorial orbit (14) over inter-satellite links (55), further includes the step of employing any combination of said uplinks (35a), said downlinks (35b) and said inter-satellite links (55) to accelerate delivery of said message throughout a particular orbital plane (14, 60, 63, 210). 27. The method of satellite communications as claimed in Claim 25 in which communicating between each of said plurality of satellites (12) and at least one of said plurality of relay stations (34, 61, 65) and said plurality of user terminals (212) further includes the steps of: transmitting and receiving a plurality of packets (225) of data and system overhead information between said plurality of satellites (12), said plurality of user terminals (212) and between said plurality of satellites (12) and said plurality of relay stations (34, 61, 65); transmitting a relay station-satellite downlink signal (35b) and a user terminal-satellite downlink signal (216) from said plurality of satellites (12), each said downlink signal (35b, 216) having a spectrum divided into four segments, each one of said Segments being used in one of said four orbital planes; said downlink signal (35b, 216) including a plurality of frames of 500 millisecond duration; modulating said downlink signal (35b, 216) using a frequency shift keying (FSK) modulation and a quadraphase shift keying (QPSK) modulation of said packet transmissions in each of said plurality of frames in a time-shared manner; receiving with said plurality of satellites (12) a relay station uplink signal (35a) in which said quadraphase shift keying (QPSK) modulation is used for transmitting said plurality of packets (225); receiving a user terminal-satellite uplink signal (214) with said plurality of satellites (12) and transmitting a user terminal-satellite downlink signal (216) having a variable data rate, said data rate variable from a low rate to provide for reduced burst power demand and reduced cost of equipment for said user terminals (212), to a high rate for rapid transmission of data; and multiplexing said user terminal-satellite uplink signal (214) using a combination of random access and frequency division (FDM) multiplexing; multiplexing said downlink signal (35b, 216) and said relay station-satellite uplink signal (35a) using a time division multiplexing (TDM); and employing an auction protocol in a first burst of data in which said satellite (12) announces to said user terminals (212) a level of message traffic being currently accepted for storage and forwarding, said level of message traffic being variable from a most expensive, fastest forwarding traffic to a least expense, slowest forwarding traffic.

Inventors: STUART JAMES R, STURZA MARK ALAN, VILLALVAZO JOSE MANUEL, STUART, JAMES, R., STURZA, MARK, ALAN, VILLALVAZO, JOSE, MANUEL
Applicants: LEO ONE IP L L C, LEO ONE IP, L.L.C.
Application year: 1994
Main classification: H04B7
IPC codes: H04B7